1. Chapter 6 The Stability of Linear Feedback System
The Concept of Stability
The Routh-Hurwitz Stability Criterion
The Relative Stability of Feedback control Systems
The Stability of State Variable Systems

2. The Concept of Stability A stable system is a dynamic system with a bounded response to a bounded input In terms of linear systems, stability requirement may be defined in terms of the location of the poles of the closed-loop transfer function. The closed-loop transfer function is written as

3. The Routh-Hurwitz Stability Criterion This a necessary and sufficient criterion for the stability of linear systems

4. The Routh-Hurwitz criterion is based on ordering the coefficients of the characteristic equation. It states that the number of roots of q(s) with positive real parts is equal to the number of changes in sign of the first column of the Routh array.

5. The Relative Stability of Feedback Control Systems
If the system satisfies the Routh-Hurwitz criterion and is absolutely stable, it is desirable to determine the relative stability that is, it is necessary to investigate the relative damping of each root of the characteristic equation.
The relative stability of a system may be defined as the property that is measured by the relative real part of each root or pair of roots. j r3  r1  r2    r3 r1 

6. The Stability of State Variable Systems
The stability of a system modeled by a state variable flow graph model may be readily ascertained.
The stability of a system with an input-output transfer function T(s) may be determined by examining the denominator polynomial of T(s) = p(s) / q(s).
The polynomial q(s), when set equal to zero, is called the characteristic equation.
The stability of the system may be evaluated with the characteristic equation associated with the system matrix A.
The characteristic equation is

7. E6.2

8. E6.4

9. P6.3

10. P6.6

11. P6.14